EP4368942B1

EP4368942B1 - Underwater mounting positioning method for final joint in immersed tube tunnel

Info

Publication number: EP4368942B1
Application number: EP23842470.9A
Authority: EP
Inventors: Xuhong SUO; Yunliang LI; Naishou ZHANG; Yuanzheng Yue; Qiang Wang; Jinjin NING; Zhaoquan Liu; Bo Yu; Xiao Chen; Zexu GUAN; Chao Zhang
Original assignee: Guangdong Laboratory Of Artificial Intelligence And Digital Economy Sz; CCCC First Harbor Engineering Co Ltd; No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Current assignee: Guangdong Laboratory Of Artificial Intelligence And Digital Economy Sz; CCCC First Harbor Engineering Co Ltd; No 2 Engineering Co Ltd of CCCC First Harbor Engineering Co Ltd
Priority date: 2023-07-20
Filing date: 2023-09-12
Publication date: 2025-05-21
Anticipated expiration: 2043-09-12
Also published as: EP4368942C0; WO2024017408A1; EP4368942A4; EP4368942A1

Description

The present application claims the priority to Chinese patent application No. 202310892430.8 and entitled "Underwater Installation Positioning System and Positioning Method for Closure joint of Immersed tunnel", Chinese patent application No. 202321922323.7 and entitled "Underwater Positioning Apparatus", Chinese patent application No. 202321913304.8 and entitled "Underwater Positioning Object", and Chinese application No. 202321912770.4 and entitled "Underwater Positioning Target", filed to the China Patent Office on July 20th, 2023 .

TECHNICAL FIELD

The present application relates to the technical field of immersed tunnel construction, and in particular to an underwater installation positioning method for a closure joint of an immersed tunnel.

BACKGROUND ART

During the construction of an immersed tunnel, in order to allow a last tube coupling to be immersed smoothly, a distance longer than the last tube coupling must be left; and when the last tube coupling is immersed and installed, the last tube coupling and a to-be-butted tube coupling are connected through a closure joint. The closure joint is usually disposed inside the last tube coupling, and when the last tube coupling is immersed and installed, the closure joint is pushed outwards to be butted with the to-be-butted tube coupling, so as to achieve through connection of the immersed tunnel; it can be understood that when the closure joint is pushed outwards, a plane displacement and plane rotation will occur under the constraint of the last tube coupling, but tilt or pitch will not occur; therefore, it is necessary to monitor the plane displacement and the rotation angle of the closure joint in real time during a pushing process of the closure joint to obtain real-time posture information of the closure joint, so as to ensure the installation accuracy of the closure joint to meet construction requirements.
At present, the commonly used positioning methods for closure joint installation comprise a measuring tower method, a sonar method, etc. However, with the gradual increase of a working water depth, the positioning accuracy of these conventional underwater positioning methods gradually decreases, and the cost is high, thus it is difficult to better ensure the accuracy and reliability of installing construction of the closure joint.
CN216815272U discloses an underwater installation positioning system for the final joint of an immersed tube tunnel, and the system comprises a cable displacement meter, a camera displacement meter, a serial port server and a data processing terminal.

SUMMARY

To overcome the shortcomings in related arts, the present application provides an underwater installation positioning method for a closure joint of an immersed tunnel, aiming at accurately monitoring a plane displacement and a rotation angle during the pushing process of the closure joint, achieving high-accuracy positioning and posture determination of the closure joint, and better ensuring the accuracy and reliability of the installing construction of the closure joint.
The invention is set out in the appended set of claims.
Based on the above technical solutions, according to the underwater installation positioning method for the closure joint of the immersed tunnel in the embodiments of the present application, the plane displacement and the rotation angle of the closure joint can be accurately monitored in the pushing process of the closure joint, so as to achieve the high-accuracy positioning and posture determination of the closure joint and better ensure the accuracy and reliability of the installation and construction of the closure joint.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings described herein are to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and their descriptions are provided to explain the present application and do not constitute undue limitations on the present application. In the drawings:

Fig. 1 is a first schematic structural diagram (perspective display) of an underwater positioning apparatus according to an embodiment of the present application;
Fig. 2 is a second schematic structural diagram of the underwater positioning apparatus according to the embodiment of the present application;
Fig. 3 is a top view of the underwater positioning apparatus according to the embodiment of the present application;
Fig. 4 is a schematic diagram of an underwater positioning object according to the embodiment of the present application;
Fig. 5 is a schematic diagram of communication connection according to the embodiment of the present application;
Fig. 6 is a schematic diagram of an initial state of a closure joint coordinate system in an underwater installation positioning method for a closure joint of an immersed tunnel according to an embodiment of the present application;
Fig. 7 is a schematic diagram of a state of the closure joint coordinate system in the underwater installation positioning method for the closure joint of the immersed tunnel during construction according to the embodiment of the present application;
Fig. 8 is a flowchart of the underwater installation positioning method for the closure joint of the immersed tunnel according to the embodiment of the present application;
Fig. 9 is a flowchart of steps in a step S0 of apparatus calibration of the underwater installation positioning method for the closure joint of the immersed tunnel according to the embodiment of the present application;
Fig. 10 is a schematic diagram of a target point layout in the S0 apparatus calibration step of the underwater installation positioning method for the closure joint of the immersed tunnel according to the embodiment of the present application;
Fig. 11 is a logical block diagram for calculating a transformation parameter X_gy of a cable displacement meter coordinate system and a transformation parameter X_fy of a camera displacement meter coordinate system in step S05 of the underwater installation positioning method for the closure joint of the immersed tunnel according to the embodiment of the present application; and
Fig. 12 is a logical block diagram showing transformations of coordinate systems in step S12 of the underwater installation positioning method for the closure joint of the immersed tunnel according to the embodiment of the present application.

In the drawings:

10. underwater positioning apparatus; 11. instrument box; 111. laser pointer; 12. camera displacement meter; 121. camera; 13. cable displacement meter; 131. pull rod; 132. cable; 133. laser angle measuring device; 134. cable encoder; 1331. laser; 1332. light spot camera; 135. universal joint; 136. winding reel;
20. underwater positioning object; 201. cable measuring point; 202. light source measuring point; 21. main casing; 22. light source; 23. pull ring; 24. back plate; 25. lamp cabin; 26. light-transmitting port;
30. closure joint;
40. last tube coupling;
50. to-be-butted tube coupling;
60. serial port server; 70. data processing terminal.

DETAILED DESCRIPTION

The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Apparently, the described embodiments are merely some, but not all, of the embodiments of this application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without involving any inventive effort shall fall into the protection scope of the present application.
It should be noted that, in the description of the present application, directional or positional relationships indicated by terms such as "center", "lateral", "longitudinal", "upper", "lower" , "top", "bottom" , "inner" , "outer" , "left" , "right" , "front" , "rear", "vertical", "horizontal" are based on directional or positional relationships as shown in the accompanying drawings, and are only for the purposes of facilitating and simplifying the descriptions, rather than indicating or implying that the referred apparatus or element has to have a specific direction or be constructed and operated in the specific direction, and therefore, they cannot be regarded as limitations on the present application.
Terms "first" and "second" are for descriptive purposes only, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features.
In the description of the present application, it needs to be noted that the terms "mounting", "connected" and "connection" should be understood in a broad sense, for example, "connection" may be fixed connection or detachable connection or connection in an integral whole, may be direct connection or indirect connection through an intermediate medium, and may be inter communication between two elements, unless it may be clearly defined and limited otherwise. For those skilled in the art, the specific meanings of the above terms in present application may be understood according to specific situations. The description of "a plurality of", "sets of" and the like in this application refers to two (sets) or more.
Referring to Fig. 6 and Fig. 7, a closure joint 30 of an immersed tunnel is disposed inside a last tube coupling 40; after the last tube coupling 40 is immersed and installed, the closure joint 30 is pushed outwards to butt with a to-be-butted tube coupling 50, so as to achieve through connection of the immersed tunnel.
Embodiments of an underwater installation positioning system for a closure joint of an immersed tunnel described below are not encompassed by the wording of the claims but are considered as useful for understanding the invention.
As shown in Figs. 1-5, an embodiment of an underwater installation positioning system for a closure joint of an immersed tunnel, comprising: at least two underwater positioning apparatuses 10, at least two underwater positioning objects 20, a serial port server 60 and a data processing terminal 70; it should be noted that a number of the underwater positioning apparatuses 10 is consistent with a number of the underwater positioning objects 20.
The underwater positioning apparatuses 10 are arranged at one end of the closure joint 30 close to the to-be-butted tube coupling 50. Each underwater positioning apparatus 10 comprises an instrument box 11, and a camera displacement meter 12 and a cable displacement meter 13 that are installed in the instrument box 11. A shooting direction of the camera displacement meter 12 and an outgoing direction of the cable displacement meter 13 both face the to-be-butted tube coupling 50. The underwater positioning objects 20 are arranged at one end of the to-be-butted tube coupling 50 close to the closure joint 30, and are arranged opposite to the underwater positioning apparatuses 10 one by one. It can be understood by those skilled in the art that both the camera displacement meter 12 and the cable displacement meter 13 measure a distance and a direction with respect to the corresponding underwater positioning object 20, so as to position and determine a posture of the closure joint 30. Each underwater positioning object 20 is provided with a cable measuring point 201 and a light source measuring point 202, wherein the cable measuring point 201 is used for measuring in cooperation with the cable displacement meter 13, and the light source measuring point 202 is used for measuring in cooperation with the camera displacement meter 12.
By combining the camera displacement meter 12 and the cable displacement meter 13 in the same instrument box 11, the compact and integrated arrangement of various positioning devices is implemented, so that the underwater positioning apparatus 10 has good apparatus redundancy, the installation difficulty and space occupation of various positioning devices are significantly reduced, the construction efficiency is improved, the integrated arrangement of communication cables of the various positioning devices can be implemented, and the construction cost is reduced; moreover, the various positioning devices can be calibrated uniformly to improve the calibration accuracy of the underwater positioning apparatus 10, and redundant measurement data of different positioning devices can be mutually checked to improve the positioning accuracy, so as to achieve high-accuracy positioning and posture determination of the closure joint 30.
As shown in Fig. 5, the serial port server 60 is in communication connection with both the camera displacement meter 12 and the cable displacement meter 13 to receive and transmit measurement data of the camera displacement meter 12 and the cable displacement meter 13 in real time. The data processing terminal 70 is in communication connection with the serial port server 60 and is used for acquiring the measurement data of the camera displacement meter 12 and the cable displacement meter 13 to calculate a real-time plane displacement and a real-time rotation angle of the closure joint 30, so that real-time position and posture information in a pushing process of the closure joint 30 can be accurately obtained, and the installation accuracy of the closure joint 30 can be ensured to meet construction requirements.
In the above-mentioned exemplary embodiment, by using the underwater positioning apparatuses 10 each comprising the camera displacement meter 12 and the cable displacement meter 13, the plane displacement and the rotation angle of the closure joint 30 can be precisely monitored in the pushing process of the closure joint 30, so as to achieve the high-accuracy positioning and posture determination of the closure joint 30 and better ensure the accuracy and reliability of the installing construction of the closure joint 30.
As shown in Figs. 1 and 2, in some embodiments, the camera displacement meter 12 comprises two cameras 121 disposed side by side to measure a distance and direction between the camera displacement meter 12 and the light source measuring point 202, that is, to determine a relative position relationship between the closure joint 30 and the to-be-butted tube coupling 50 by a camera measuring method. The shooting directions of the two cameras 121 face the light source measuring point 202, and the two cameras 121 form a binocular camera, which is more conducive to the measurement and positioning of the light source measuring point 202.
As shown in Figs. 1-3, the cable displacement meter 13 comprises a rotatable pull rod 131, a retractable cable 132 penetrating through the pull rod 131, a cable encoder 134 for measuring a length of the cable 132, and a laser angle measuring device 133 for measuring a direction of the cable 132, so as to measure the distance and direction between the cable displacement meter 13 and the cable measuring point 201, that is, to determine the relative position relationship between the closure joint 30 and the to-be-butted tube coupling 50 by a cable measuring method.
A rotation center of the pull rod 131 is located in the instrument box 11, and a rotation state of the cable 132 is consistent with that of the pull rod 131. For example, in some embodiments, a rear end of the pull rod 131 is rotatably connected to an interior of the instrument box 11 through a universal joint 135, and a front end of the pull rod 131 is connected to the cable measuring point 201 through the cable 132, and the pull rod 131 rotates around the rear end of the pull rod 131 due to the movement of the cable measuring point 201. It is further explained that one end of the cable 132 is wound around a winding reel 136, and the other end of the cable is to be connected with the cable measuring point 201; the winding reel 136 is used for winding and unwinding the cable 132, and the cable encoder 134 is disposed at the winding reel 136 to measure a rotation angle of the winding reel 136, and then calculate the length of the cable 132.
As shown in Figs. 2 and 3, the laser angle measuring device 133 comprises a laser 1331 and a light spot camera 1332; the laser 1331 is installed on the pull rod 131 to rotate synchronously with the pull rod 131, and the laser 1331 is used for emitting laser light outwards; the light spot camera 1332 faces the laser 1331, so that the laser light emitted by the laser 1331 can be projected on the light spot camera 1332 to form a light spot; and the light spot camera 1332 is used for measuring position information of the light spot, thereby calculating a direction of the pull rod 131, that is, the direction of the cable 132, the direction of the pull rod 131 comprises a horizontal angle and a vertical angle. Specifically, according to the movement of the light spot on the light spot camera 1332, a change of the rotation angle of the laser 1331 can be calculated; since the laser 1331 rotates synchronously with the pull rod 131, the change of the rotation angle of the laser 1331 is the change of the rotation angle of the pull rod 131. It is further explained that when the laser angle measuring device 133 of the present embodiment is used for angle measurement, the pull rod 131 is straightened first, that is, to make the horizontal angle and the vertical angle of the pull rod 131 both zero, and a position of the light spot at this moment is calibrated as an initial position; when the pull rod 131 and the laser 1331 rotate synchronously, a real-time position of the light spot changes accordingly; according to a relationship between the real-time position of the light spot and the initial position, the rotation angle of the laser 1331 can be calculated, the rotation angle of the laser 1331 comprises a horizontal rotation angle and a vertical rotation angle; since the horizontal angle and the vertical angle of the pull rod 131 are both zero when calibrating, the horizontal rotation angle of the laser 1331 is equal to the horizontal angle of the pull rod 131, and the vertical rotation angle of the laser 1331 is equal to the vertical angle of the pull rod 131, thereby obtaining the direction of the pull rod 131. According to the exemplary embodiment, through the combined arrangement of the various positioning devices, more redundant measurement data can be obtained in different measurement modes, so that the data quality can be checked and screened, and the accuracy and reliability of the result data can be improved.
As shown in Fig. 2, the serial port server 60 is installed inside the instrument box 11; the serial port server 60 is in communication connection with the cable encoder 134, the laser angle measuring device 133 and the camera 121, so as to output the measurement data of the cable encoder 134, the laser angle measuring device 133 and the camera 121.
As shown in Fig. 4, in some embodiments, each underwater positioning object 20 comprises a main casing 21, a pull ring 23 installed on an outer side of the main casing 21, and a plurality of light sources 22 installed in the main casing 21; a hooking direction of the pull ring 23 faces the corresponding underwater positioning apparatus 10; and light-emitting directions of the plurality of light sources 22 also face the corresponding underwater positioning apparatus 10. The pull ring 23 is used to be connected with the cable displacement meter 13 as the cable measuring point 201 for the cable displacement meter 13. The plurality of light sources 22 constitute light source measuring points 202 for the camera displacement meter 12, and provide a field-of-view for camera measuring of the camera displacement meter 12.
In some embodiments, each underwater positioning object 20 further comprises a back plate 24, the back plate 24 is opposite to the main casing 21 in parallel, and a plurality of lamp cabins 25 are disposed between the back plate 24 and the main casing 21, and each lamp cabin 25 is hermetically connected with the back plate 24 and the main casing 21. A Lamp bead is installed in each lamp cabin 25, light-transmitting ports 26 corresponding to lamp beads one by one are formed in the main casing 21, filter plates are installed at the light-transmitting ports 26, and the lamp beads provide light sources 22 for the underwater positioning object; it can be understood that the filter plates are hermetically connected with the main casing 21 to ensure the tightness of the lamp cabins 25. Each lamp bead emits laser light towards its corresponding light-transmitting port 26 and transmits the laser light outward through the filter plate. Through the arrangement of the plurality of lamp cabins 25 and lamp beads, the underwater positioning object 20 may be used as the light source measuring point 202 to meet the camera measurement requirements of the camera displacement meter 12.
The pull ring 23 is convexly disposed on a surface of the main casing 21 facing away from the back plate 24, and the pull ring 23 is to be connected with the cable 132 of the cable displacement meter 13; through the arrangement of the pull ring 23, the underwater positioning object 20 can be used as the cable measuring point 201 to meet cable measurement requirements of the cable displacement meter 13.
In the above-mentioned embodiment, by integrating the pull ring 23 and the plurality of lamp beads on the main casing 21, compact and integrated arrangement of various underwater positioning points in one underwater positioning object 20 is implemented, so that the underwater positioning object 20 can provide measuring points required for various positioning devices at the same time, thus a workload and difficulty of underwater installation are reduced, a space occupation is also reduced, unified installation and unified calibration are facilitated, and the installation accuracy and positioning accuracy are further improved.
Referring to Figs. 6-8, an embodiment of the present application provides an underwater installation positioning method for a closure joint of an immersed tunnel, which is performed by using the underwater installation positioning system for the closure joint of the immersed tunnel according to any embodiment as described above. The method comprises the following steps:
S1: a step of construction calibrating, specifically comprising:

S11: establishing a last tube coupling coordinate system based on the last tube coupling 40, and marking it as a O_K - XY coordinate system; establishing a closure joint coordinate system based on the closure joint 30, and marking it as a O_D - UV coordinate system; and an initial state of the closure joint coordinate system is the same as the last tube coupling coordinate system, that is, the closure joint coordinate system coincides with the last tube coupling coordinate system before the closure joint 30 is pushed, as shown in Fig. 6;
it can be understood that after the last tube coupling 40 is immersed and installed, the state of the last tube coupling coordinate system will no longer change, but the state of the closure joint coordinate system changes in real time in the pushing process of the closure joint 30, as shown in Fig. 7; therefore, when the pushing process of the closure joint 30 starts, a real-time plane displacement of the closure joint 30 is equal to a real-time plane displacement of the closure joint coordinate system relative to the last tube coupling coordinate system, and a real-time rotation angle of the closure joint 30 is equal to a real-time rotation angle of the closure joint coordinate system relative to the last tube coupling coordinate system;
S12: arranging and installing a plurality of underwater positioning apparatuses 10 at one end of the closure joint 30 close to the to-be-butted tube coupling 50, arranging and installing a plurality of underwater positioning objects 20 at one end of the to-be-butted tube coupling 50 close to the closure joint 30, the underwater positioning apparatuses 10 are disposed opposite to the underwater positioning objects 20 one by one, wherein in some embodiments, four underwater positioning apparatuses 10 and four underwater positioning objects 20 may be adopted, the four underwater positioning apparatuses 10 may be respectively arranged at four corners of an end sealing door of the closure joint 30, the four underwater positioning objects 20 are respectively arranged at four corners of an end sealing door of the to-be-butted tube coupling 50, and it can be understood that the numbers and layout are not limited in the present application, but the numbers of the underwater positioning apparatuses 10 and the underwater positioning objects 20 are at least two; establishing a cable displacement meter coordinate system based on the cable displacement meter 13 and a camera displacement meter coordinate system based on the camera displacement meter 12, calibrating a transformation parameter X_gj between the cable displacement meter coordinate system and the closure joint coordinate system, and calibrating a transformation parameter X_fj between the camera displacement meter coordinate system and the closure joint coordinate system;
it can be understood that X_fj and X_gj are constants because a relative position relationship between the underwater positioning apparatus 10 and the closure joint 30 is constant; it is further explained that through the calibration of X_gj and X_fj , measurement data of the cable displacement meter 13 in the cable displacement meter coordinate system and measurement data of the camera displacement meter 12 in the camera displacement meter coordinate system can be converted into measurement data in the closure joint coordinate system, so that the measurement data in different coordinate systems are uniformly converted into the measurement data in the same coordinate system, which facilitates subsequent processing of the measurement data and calculation of real-time posture state of the closure joint 30;
S2: a step of measurement before pushing, which is performed after the last tube coupling 40 is immersed and installed and before the closure joint 30 is pushed, and which specifically comprises:
- S21: establishing a construction coordinate system, and marking it as a O_G - PQ coordinate system, as shown in Fig. 6, wherein the construction coordinate system is established according to construction requirements, for example, in some embodiments, an included angle between the construction coordinate system and a design axis C of the tunnel is 56 degrees; and
- S22: setting a measuring point (for example, a cable measuring point 201 or a light source measuring point 202) on the to-be-butted tube coupling 50, through a through measurement after the last tube coupling 40 is immersed and installed, plane coordinates of the measuring point in the last tube coupling coordinate system and plane coordinates of the measuring point in the construction coordinate system are obtained to calculate a plane displacement and a rotation angle between the last tube coupling coordinate system and the construction coordinate system, wherein since the initial state of the closure joint coordinate system is the same as that of the last tube coupling coordinate system, a plane displacement and a rotation angle between the initial state of the closure joint coordinate system and the construction coordinate system before pushing are also obtained; as such, in combination with a structural dimension of the closure joint 30, a theoretical plane displacement (ΔU_t, ΔV_t ) and a theoretical rotation angle δ_t when the closure joint 30 is pushed in place are obtained. It should be noted that the measuring point may directly adopt the cable measuring point 201 or the light source measuring point 202, or may be set as desired;
- S23: through the through measurement after the last tube coupling 40 is immersed and installed, plane coordinates of all the cable measuring points 201 and the light source measuring points 202 in the last tube coupling coordinate system are obtained, numbering all the cable measuring points 201 and the light source measuring points 202 and marking the plane coordinates of the cable measuring points 201 and the light source measuring points 202 in the last tube coupling coordinate system as (X_i, Y_i ), where, i = 1 or 2 or ... or n; it can be understood that n ≥ 4; it should be noted that (X_i, Y_i ) is a constant in the pushing process of the closure joint 30 since the final joint 40 has already been immersed and mounted;
- S3: a step of closure joint pushing, wherein in a pushing process of the closure joint 30, the data processing terminal 70 acquires synchronous measurement data of a plurality of camera displacement meters 12 and a plurality of cable displacement meters 13 in real time through the serial port server 60, to calculate a real-time plane displacement (ΔU_a , ΔV_a ) and a real-time rotation angle δ _a of the closure joint 30; when (ΔU_a , ΔV_a ) = (ΔU_t, ΔV_t ) and δ_a = δ_t, the pushing of the closure joint 30 is completed.

In the above-mentioned embodiment, through the step of construction calibrating, the step of measurement before pushing and the step of closure joint pushing, the plane displacement and the rotation angle of the closure joint 30 can be accurately monitored, so as to achieve high-accuracy positioning and posture determination of the closure joint 30 and ensure the accuracy and reliability of pushing installation of the closure joint 30. It should be noted that a specific method of the through measurement in step S22 is the prior art, which can be reasonably realized by those skilled in the art based on the prior art, and will not be described in detail in the present application.
Step S3 comprises the following steps:

S31: in the pushing process of the closure joint 30, using the cable displacement meter 13 to measure coordinates of the cable measuring points 201 in the cable displacement meter coordinate system and, in combination with X_gj , real-time plane coordinates of the cable measuring points 201 in the closure joint coordinate system are obtained; using the camera displacement meter 12 to measure coordinates of the light source measuring points 202 in the camera displacement meter coordinate system, and in combination with X_fj, real-time plane coordinates of the light source measuring points 202 in the closure joint coordinate system are obtained; marking the real-time plane coordinates of the cable measuring points 201 and the light source measuring points 202 in the closure joint coordinate system as (U_i,V_i ), wherein it can be understood that (U_i,V_i) is a variable which changes with the pushing of the closure joint 30; and
S32: establishing an observation equation of one cable measuring point 201 or one light source measuring point 202, which is expressed as a formula (1); $(\begin{matrix} X_{i} \\ Y_{i} \end{matrix}) + V_{ki} = (\begin{matrix} 1 & 0 & - V_{i} \\ 0 & 1 & U_{i} \end{matrix}) (\begin{matrix} Δ U_{a} \\ Δ V_{a} \\ δ_{a} \end{matrix}) + (\begin{matrix} U_{i} \\ V_{i} \end{matrix})$
where, in the formula (1), V_ki is a measurement correction number of the cable measuring point 201 or the light source measuring point 202; (ΔU_a , ΔV_a ) is a real-time plane displacement of the closure joint 30, that is, the real-time plane displacement of the closure joint coordinate system relative to the last tube coupling coordinate system; δ_a is the real-time rotation angle of the closure joint 30, that is, the real-time rotation angle of the closure joint coordinate system relative to the closure joint coordinate system;
letting $B = (\begin{matrix} 1 & 0 & - V_{1} \\ 0 & 1 & U_{1} \\ \dots \\ 1 & 0 & - V_{n} \\ 0 & 1 & U_{n} \end{matrix}), X = (\begin{matrix} Δ U_{a} \\ Δ U_{a} \\ δ_{a} \end{matrix}), L = (\begin{matrix} X_{1} \\ Y_{1} \\ \dots \\ X_{n} \\ Y_{n} \end{matrix}) - (\begin{matrix} U_{1} \\ V_{1} \\ \dots \\ U_{n} \\ V_{n} \end{matrix}), V_{k} = (\begin{matrix} V_{k 1} \\ \dots \\ V_{kn} \end{matrix})$
, so that observation equations of all the cable measuring points 201 and the light source measuring points 202 are expressed as a formula (2); $V_{k} = B \cdot X - L$
according to the principle of a least square method, a solution of X expressed as a formula (3) is obtained, thereby the real-time plane displacement (ΔU_a,ΔV_a ) and the real-time rotation angle δ _a of the closure joint 30 are obtained; $X = {(B^{T} B)}^{- 1} \cdot B^{T} \cdot L$

In the above-mentioned embodiment, the calculation of the real-time plane displacement and the real-time rotation angle in the pushing process of the closure joint 30 is realized, so that the plane displacement and the rotation angle of the closure joint 30 can be monitored in real time, and real-time posture information of the closure joint 30 can be accurately obtained.
In some embodiments, step S3 further comprises: S33: substituting the result of X into the formula (1) to obtain the measurement correction number V_ki ; judging whether an absolute value of V_ki exceeds a preset maximum allowable deviation; if the absolute value does not exceed the preset maximum allowable deviation, calculation accuracy check of X at a current pushing position is completed, that is, the calculation result of a current posture of the closure joint 30 is determined to be accurate, and performing the next pushing according to step S3 until the pushing of the closure joint 30 is completed; if the absolute value exceeds the preset maximum allowable deviation, eliminating coordinate data of a measuring point corresponding to this V_ki , and using coordinate data of other measuring points that have not been eliminated to calculate X again; if the amount of the coordinate data of the measuring points that have not been eliminated is less than 2, re-measuring and re-acquiring the plane coordinates of the cable measuring points 201 and the light source measuring points 202 in the closure joint coordinate system at the current pushing position, so as to re-calculate and re-check X. In the present embodiment, results of the real-time plane displacement and the real-time rotation angle of the closure joint 30 are checked, so that the accuracy of the calculation results is ensured and the accuracy and reliability of the installing construction of the closure joint 30 are further ensured.
In some embodiments, in step S22, the plane coordinates of the measuring point in the last tube coupling coordinate system O_K - XY are marked as (X ₀ ,Y ₀) and the plane coordinates of the measuring point in the construction coordinate system O_G - PQ are marked as (P ₀, Q ₀), and the plane displacement (dX, dY) and the rotation angle γ between the last tube coupling coordinate system and the construction coordinate system are calculated according to a formula (4); further, on the basis that (dX, dY) and γ are obtained, the theoretical plane displacement (ΔU_t, ΔV_t ) and the theoretical rotation angle δ_t of the closure joint 30 when the closure joint is pushed in place can be obtained by simply calculation in combination with the specific structural dimension of the closure joint 30; $(\begin{matrix} P_{0} \\ Q_{0} \end{matrix}) = (\begin{matrix} \cos γ & - \sin γ \\ \sin γ & \cos γ \end{matrix}) (\begin{matrix} X_{0} \\ Y_{0} \end{matrix}) + (\begin{matrix} dX \\ dY \end{matrix})$
In the above-mentioned embodiment, the calculation of the theoretical plane displacement (ΔU_t, ΔV_t ) and the theoretical rotation angle δ_t when the closure joint 30 is pushed in place is realized.
In some embodiments, the underwater installation positioning method for the closure joint of the immersed tunnel further comprises the following steps:
S0: a step of apparatus calibrating, which is performed before the underwater positioning apparatuses 10 are installed at the closure joint 30, calibrating a transformation parameter X_gy between the cable displacement meter coordinate system and an instrument box coordinate system, and calibrating a transformation parameter X_fy between the camera displacement meter coordinate system and the instrument box coordinate system; specifically, as shown in Fig. 9, the step of apparatus calibrating comprises:

S01: respectively establishing the instrument box coordinate system based on the instrument box 11, the camera displacement meter coordinate system based on the camera displacement meter 12, and the cable displacement meter coordinate system based on the cable displacement meter 13; marking an origin point of the instrument box coordinate system as O_y, O_y is located at a center of a top surface of the instrument box 11, and marking a main axis of the instrument box coordinate system as a Z_y axis, the Z_y axis facing the shooting direction of the camera displacement meter 12;
S02: putting the instrument box 11 on the ground and keeping it in a horizontal state; disposing a laser pointer 111 on the top surface of the instrument box 11, and using laser light emitted by the laser pointer 111 to indicate a direction of the Z_y axis; setting two reference points P ₁ and P ₂ at an interval on the Z_y axis, and recording their coordinates in the instrument box coordinate system; as shown in Fig. 10, disposing a plurality of targets T at intervals along the Z_y axis and a plurality of target points are provided on each target T, and numbering all the target points as B_j, j = 1 or 2 or ... or m;
S03: setting up a total station to measure coordinates of O_y, P ₁, P ₂ and B_j in a total station coordinate system; measuring coordinates of B_j in the camera displacement meter coordinate system by using the camera displacement meter 12; and measuring coordinates of B_j in the cable displacement meter coordinate system by using the cable displacement meter 13;
S04: by using the coordinates of O_y, P ₁, P ₂ in the total station coordinate system and in the instrument box coordinate system, calculating a transformation parameter X_qy of the total station coordinate system when the total station coordinate system is transformed into the instrument box coordinate system; according to the transformation parameter X_qy of the total station coordinate system, transforming the coordinates of B_j in the total station coordinate system into coordinates of B_j in the instrument box coordinate system; and
S05: by using the coordinates of B_j in the instrument box coordinate system and the coordinates of B_j in the camera displacement meter coordinate system, establishing a first observation equation of the target point B_j to calculate a transformation parameter X_fy of the camera displacement meter coordinate system when the camera displacement meter coordinate system is transformed into the instrument box coordinate system; by using the coordinates of B_j in the instrument box coordinate system and the coordinates of B_j in the cable displacement meter coordinate system, establishing a second observation equation of the target point B_j to calculate a transformation parameter X_gy of the cable displacement meter coordinate system when the cable displacement meter coordinate system is transformed into the instrument box coordinate system, wherein a logic block diagram for calculating the transformation parameter X_gy of the cable displacement meter coordinate system and the transformation parameter X_fy of the camera displacement meter coordinate system is shown in Fig. 11.

Through the above steps, various positioning devices can be calibrated uniformly in a same coordinate system, so that the calibration of the underwater positioning apparatus 10 itself is implemented and the calibration accuracy is improved, and the measurement results of the cable displacement meter 13 and the camera displacement meter 12 are ensured to be more accurate and reliable, thereby achieving high-accuracy positioning and posture determination of the closure joint in pushing process of the closure joint.
As shown in Fig. 12, in step S12, when the underwater positioning apparatuses 10 are installed on the closure joint 30, the transformation parameter X_yj between the instrument box coordinate system and the closure joint coordinate system is calibrated first, then X_gy and X_yj are combined to obtain the transformation parameter X_gj between the cable displacement meter coordinate system and the closure joint coordinate system, and X_fy and X_yj are combined to obtain the transformation parameter X_fj between the camera displacement meter coordinate system and the closure joint coordinate system. According to the exemplary embodiment, the calculation of the transformation parameter between the cable displacement meter coordinate system and the closure joint coordinate system, and the calculation of the transformation parameter between the camera displacement meter coordinate system and the closure joint coordinate system are realized.
To sum up, according to the underwater installation positioning method for the closure joint of the immersed tunnel provided by the present application, the plane displacement and the rotation angle of the closure joint 30 can be accurately monitored in the pushing process of the closure joint 30, so as to achieve the high-accuracy positioning and posture determination of the closure joint 30 and better ensure the accuracy and reliability of the installing construction of the closure joint 30.
Finally, it should be noted that the various embodiments in the present description are described in a progressive way, and each embodiment focuses on the differences from other embodiments, the same and similar parts between the embodiments can be referred to each other.
The above embodiments are only intended to illustrate the technical solution of the present application, but are not intended to limit the present application.

Claims

An underwater installation positioning method for a closure joint of an immersed tunnel, which is performed by an underwater installation positioning system comprising:
at least two underwater positioning apparatuses (10) arranged at one end of the closure joint (30) close to a to-be-butted tube coupling (50), wherein each underwater positioning apparatus (10) comprises an instrument box (11), and a camera displacement meter (12) and a cable displacement meter (13) that are installed in the instrument box (11), a shooting direction of the camera displacement meter (12) and an outgoing direction of the cable displacement meter (13) both face the to-be-butted tube coupling (50);

at least two underwater positioning objects (20) arranged at one end of the to-be-butted tube coupling (50) close to the closure joint (30) and arranged opposite to the underwater positioning apparatuses (10) one by one;

a serial port server (60) being in communication connection with both the camera displacement meter (12) and the cable displacement meter (13) to receive and transmit measurement data of the camera displacement meter (12) and the cable displacement meter (13) in real time; and

a data processing terminal (70) being in communication connection with the serial port server (60) and used for acquiring measurement data to calculate a real-time plane displacement and a real-time rotation angle of the closure joint (30);

the method, characterized in that, comprises following steps:
S1: a step of construction calibrating, specifically comprises:
S11: establishing a last tube coupling coordinate system based on a last tube coupling (40) and a closure joint coordinate system based on the closure joint (30), and an initial state of the closure joint coordinate system is the same as the last tube coupling coordinate system; and

S12: installing the underwater positioning apparatuses (10) on the closure joint (30) and installing the underwater positioning objects (20) on the to-be-butted tube coupling (50), establishing a cable displacement meter coordinate system based on the cable displacement meter (13) and a camera displacement meter coordinate system based on the camera displacement meter (12), calibrating a transformation parameter x_qj between the cable displacement meter coordinate system and the closure joint coordinate system, and calibrating a transformation parameter X_fj between the camera displacement meter coordinate system and the closure joint coordinate system;

S2: a step of measurement before pushing, which is performed after the last tube coupling (40) is immersed and installed and before the closure joint (30) is pushed, and which specifically comprises:
S21: establishing a construction coordinate system; and

S22: setting a measuring point, that is, a cable measuring point (201) or a light source measuring point (202), on the to-be-butted tube coupling (40); obtaining plane coordinates of the measuring point in the last tube coupling coordinate system and plane coordinates of the measuring point in the construction coordinate system by a through measurement, so as to calculate a plane displacement and a rotation angle between the last tube coupling coordinate system and the construction coordinate system; and then obtaining a theoretical plane displacement (ΔU_t, ΔV_t ) and a theoretical rotation angle δ_t when the closure joint (30) is pushed in place in combination with a structural dimension of the closure joint (30);

S23, obtaining plane coordinates of all cable measuring points (201) and light source measuring points (202) in the last tube coupling coordinate system by a through measurement, and marking them as (X_i, Y_i ), where i = 1 or 2 or ... or n;

S3: a step of closure joint pushing, wherein in a pushing process of the closure joint (30), the data processing terminal (70) uses synchronous measurement data of a plurality of camera displacement meters (12) and a plurality of cable displacement meters (13), to calculate a real-time plane displacement (ΔU_a,ΔV_a ) and a real-time rotation angle δ _a of the closure joint (30); when (ΔU_a , ΔV_a ) = (ΔU_t,ΔV_t ) and δ_a = δ_t, the pushing of the closure joint (30) is completed;

step S3 comprises following steps:
S31: in the pushing process of the closure joint (30), using the cable displacement meter (13) to measure the coordinates of the cable measuring points (201) in the cable displacement meter coordinate system, and in combination with X_gj , real-time plane coordinates of the cable measuring points (201) in the closure joint coordinate system are obtained; using the camera displacement meter (12) to measure coordinates of the light source measuring points (202) in the camera displacement meter coordinate system, and in combination with X_fj, real-time plane coordinates of the light source measuring points (202) in the closure joint coordinate system are obtained; marking the real-time plane coordinates of the cable measuring points (201) and the light source measuring points (202) in the closure joint coordinate system as (U_i, V_i ); and

S32: establishing an observation equation of one cable measuring point (201) or one light source measuring point (202), which is expressed as a formula (1); $(\begin{matrix} X_{i} \\ Y_{i} \end{matrix}) + V_{ki} = (\begin{matrix} 1 & 0 & - V_{i} \\ 0 & 1 & U_{i} \end{matrix}) (\begin{matrix} Δ U_{a} \\ Δ V_{a} \\ δ_{a} \end{matrix}) + (\begin{matrix} U_{i} \\ V_{i} \end{matrix})$

where, in the formula (1), V_ki is a measurement correction number of the cable measuring point (201) or the light source measuring point (202); (ΔU_a ,ΔV_a ) is a real-time plane displacement of the closure joint (30), that is, a real-time plane displacement of the closure joint coordinate system relative to the last tube coupling coordinate system; δ_a is the real-time rotation angle of the closure joint (30), that is, a real-time rotation angle of the closure joint coordinate system relative to the closure joint coordinate system;

letting $B = (\begin{matrix} 1 & 0 & - V_{1} \\ 0 & 1 & U_{1} \\ \dots \\ 1 & 0 & - V_{n} \\ 0 & 1 & U_{n} \end{matrix}), X = (\begin{matrix} Δ U_{a} \\ Δ V_{a} \\ δ_{a} \end{matrix}), L = (\begin{matrix} X_{1} \\ Y_{1} \\ \dots \\ X_{n} \\ Y_{n} \end{matrix}) - (\begin{matrix} U_{1} \\ V_{1} \\ \dots \\ U_{n} \\ V_{n} \end{matrix}), V_{k} = (\begin{matrix} V_{k 1} \\ \dots \\ V_{kn} \end{matrix})$
, so that observation equations of all the cable measuring points (201) and the light source measuring points (202) are expressed as a formula (2); $V_{k} = B \cdot X - L$

according to a principle of a least square method, a solution of X expressed as a formula (3) is obtained, thereby obtaining the real-time plane displacement (ΔU_a,ΔV_a ) and the real-time rotation angle δ _a of the closure joint (30); $X = {(B^{T} B)}^{- 1} \cdot B^{T} \cdot L$
The underwater installation positioning method according to claim 1, characterized in that, step S3 further comprises: S33: substituting a result of X into the formula (1) to obtain the measurement correction number V_ki ; judging whether an absolute value of V_ki exceeds a preset maximum allowable deviation; if not, calculation accuracy check of X at a current pushing position is completed, and performing a next pushing according to step S3 until the pushing of the closure joint (30) is completed; if yes, eliminating coordinate data of a measuring point corresponding to the V_ki , and using coordinate data of other measuring points that have not been eliminated to calculate X again; if an amount of the coordinate data of the measuring points that have not been eliminated is less than 2, re-measuring and re-acquiring the plane coordinates of the cable measuring points (201) and the light source measuring points (202) in the closure joint coordinate system at the current pushing position, so as to re-calculate and re-check X.
The underwater installation positioning method according to claim 1, characterized in that, in step S22, the plane coordinates of the measuring point in the last tube coupling coordinate system are marked as (X₀,Y₀) and the plane coordinates of the measuring point in the construction coordinate system are marked as (P ₀, Q ₀), and the plane displacement (dX, dY) and the rotation angle γ between the last tube coupling coordinate system and the construction coordinate system are calculated according to a formula (4): $(\begin{matrix} P_{0} \\ Q_{0} \end{matrix}) = (\begin{matrix} \cos γ & - \sin γ \\ \sin γ & \cos γ \end{matrix}) (\begin{matrix} X_{0} \\ Y_{0} \end{matrix}) + (\begin{matrix} dX \\ dY \end{matrix})$
The underwater installation positioning method according to claim 1, characterized in that, further comprises following step:
S0: a step of apparatus calibrating, which is performed before the underwater positioning apparatuses (10) are installed at the closure joint, calibrating a transformation parameter X_gy between the cable displacement meter coordinate system and an instrument box coordinate system, and calibrating a transformation parameter X_fy between the camera displacement meter coordinate system and the instrument box coordinate system;

in step S12, when the underwater positioning apparatuses (10) are installed on the closure joint (30), calibrating the transformation parameter X_yj between the instrument box coordinate system and the closure joint coordinate system, then combining X_gy and X_yj to obtain the transformation parameter X_gj between the cable displacement meter coordinate system and the closure joint coordinate system, and combining X_fy and X_yj to obtain the transformation parameter X_fj between the camera displacement meter coordinate system and the closure joint coordinate system.
The underwater installation positioning method according to claim 4, characterized in that, the step S0 of apparatus calibrating comprises following steps:
S01: respectively establishing the instrument box coordinate system based on the instrument box (11), the camera displacement meter coordinate system based on the camera displacement meter (12) and the cable displacement meter coordinate system based on the cable displacement meter (13); marking an origin point of the instrument box coordinate system as O_y, marking a main axis of the instrument box coordinate system as a Z_y axis, the Z_y axis facing the shooting direction of the camera displacement meter (12);

S02: setting two reference points P ₁ and P ₂ at an interval on the Z_y axis, and recording coordinates of reference points P ₁ and P ₂ in the instrument box coordinate system; disposing a plurality of targets (T) at intervals along the Z_y axis and disposing a plurality of target points on each target (T), and numbering all the target points as B_j ;

S03: setting up a total station to measure coordinates of O_y, P ₁, P ₂ and B_j in a total station coordinate system; measuring coordinates of B_j in the camera displacement meter coordinate system by using the camera displacement meter (12); and measuring coordinates of B_j in the cable displacement meter coordinate system by using the cable displacement meter (13);

S04: by using the coordinates of O_y, P ₁, P ₂ in the total station coordinate system and the coordinates of O_y, P ₁, P ₂ in the instrument box coordinate system, calculating a transformation parameter X_qy of the total station coordinate system when the total station coordinate system is transformed into the instrument box coordinate system; according to the transformation parameter X_qy of the total station coordinate system, transforming the coordinates of B_j in the total station coordinate system into coordinates of B_j in the instrument box coordinate system; and

S05: by using the coordinates of B_j in the instrument box coordinate system and the coordinates of B_j in the camera displacement meter coordinate system, calculating a transformation parameter X_fy of the camera displacement meter coordinate system when the camera displacement meter coordinate system is transformed into the instrument box coordinate system; by using the coordinates of B_j in the instrument box coordinate system and the coordinates of B_j in the cable displacement meter coordinate system, calculating a transformation parameter X_gy of the cable displacement meter coordinate system when the cable displacement meter coordinate system is transformed in to the instrument box coordinate system.
The underwater installation positioning method according to claim 1, characterized in that, each underwater positioning object (20) comprises a pull ring (23) and a plurality of light sources (22); the pull ring (23) is used as the cable measuring point (201) for the cable displacement meter (13), a hooking direction of the pull ring (23) faces a corresponding underwater positioning apparatus (10); and the plurality of light sources (22) constitute light source measuring points (202) for the camera displacement meter (12), and light-emitting directions of the plurality of light sources (22) face a corresponding underwater positioning apparatus (10).
The underwater installation positioning method according to claim 6, characterized in that, the camera displacement meter (12) comprises two cameras (121) disposed side by side to measure a distance and direction between the camera displacement meter (12) and one of the light source measuring points (202).
The underwater installation positioning method according to claim 6, characterized in that, the cable displacement meter (13) comprises a rotatable pull rod (131), a retractable cable (132) penetrating through the pull rod (131), a cable encoder (134) for measuring a length of the cable (132), and a laser angle measuring device (133) for measuring a direction of the cable (132), so as to measure a distance and direction between the cable displacement meter (13) and the cable measuring point (201).
The underwater installation positioning method according to claim 8, characterized in that, the laser angle measuring device (133) comprises a laser (1331) and a light spot camera (1332); the laser (1331) is installed on the pull rod (131) to rotate synchronously with the pull rod (131), and the laser (1331) is used for emitting laser light outwards; the light spot camera (1332) faces the laser (1331), so that the laser light emitted by the laser (1331) is projected on the light spot camera (1332) to form a light spot; and the light spot camera (1332) is used for measuring position information of the light spot.